/*
* @File Name collide.h
* @File Path M:\MAS2\PRM_Robotic_Arm\PRMCcode\coding\obstacle\collide.h
* @Author: Ruige_Lee
* @Date:   2019-08-20 20:47:02
* @Last Modified by:   Ruige_Lee
* @Last Modified time: 2019-08-25 19:36:13
* @Email: 295054118@whut.edu.cn
* @page: https://whutddk.github.io/
*/

#include <stdint.h>

extern int32_t collide_check_top( float prmPose[6] );
extern int32_t collide_pose_check(float robotPose_A[6], float robotPose_B[6]);
extern int32_t LinkCollide( uint8_t robLinkA, uint8_t robLinkB, float LinkDot_A[5][3], float LinkDot_B[5][3] );
extern int32_t Linkdistance( float LinkDot_A0[3], float LinkDot_A1[3], float LinkDot_B0[3], float LinkDot_B1[3], float mixPoint_A[3], float mixPoint_B[3], float *distance );






